| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | #include "ImuFile.hpp" | ||
| 10 | |||
| 11 | #include "util/Logger.hpp" | ||
| 12 | #include "util/StringUtil.hpp" | ||
| 13 | |||
| 14 | #include "Navigation/Transformations/CoordinateFrames.hpp" | ||
| 15 | |||
| 16 | #include "internal/NodeManager.hpp" | ||
| 17 | namespace nm = NAV::NodeManager; | ||
| 18 | #include "internal/FlowManager.hpp" | ||
| 19 | |||
| 20 | #include "NodeData/IMU/ImuObs.hpp" | ||
| 21 | #include "NodeData/IMU/ImuObsWDelta.hpp" | ||
| 22 | |||
| 23 | 112 | NAV::ImuFile::ImuFile() | |
| 24 |
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112 | : Imu(typeStatic()) |
| 25 | { | ||
| 26 | LOG_TRACE("{}: called", name); | ||
| 27 | |||
| 28 | 112 | _hasConfig = true; | |
| 29 | 112 | _guiConfigDefaultWindowSize = { 377, 201 }; | |
| 30 | |||
| 31 |
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448 | nm::CreateOutputPin(this, "ImuObs", Pin::Type::Flow, { NAV::ImuObs::type(), NAV::ImuObsWDelta::type() }, &ImuFile::pollData); |
| 32 |
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224 | nm::CreateOutputPin(this, "Header Columns", Pin::Type::Object, { "std::vector<std::string>" }, &_headerColumns); |
| 33 | 224 | } | |
| 34 | |||
| 35 | 224 | NAV::ImuFile::~ImuFile() | |
| 36 | { | ||
| 37 | LOG_TRACE("{}: called", nameId()); | ||
| 38 | 224 | } | |
| 39 | |||
| 40 | 224 | std::string NAV::ImuFile::typeStatic() | |
| 41 | { | ||
| 42 |
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448 | return "ImuFile"; |
| 43 | } | ||
| 44 | |||
| 45 | ✗ | std::string NAV::ImuFile::type() const | |
| 46 | { | ||
| 47 | ✗ | return typeStatic(); | |
| 48 | } | ||
| 49 | |||
| 50 | 112 | std::string NAV::ImuFile::category() | |
| 51 | { | ||
| 52 |
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224 | return "Data Provider"; |
| 53 | } | ||
| 54 | |||
| 55 | ✗ | void NAV::ImuFile::guiConfig() | |
| 56 | { | ||
| 57 | ✗ | if (auto res = FileReader::guiConfig(".csv,.*", { ".csv" }, size_t(id), nameId())) | |
| 58 | { | ||
| 59 | ✗ | LOG_DEBUG("{}: Path changed to {}", nameId(), _path); | |
| 60 | ✗ | flow::ApplyChanges(); | |
| 61 | ✗ | if (res == FileReader::PATH_CHANGED) | |
| 62 | { | ||
| 63 | ✗ | doReinitialize(); | |
| 64 | } | ||
| 65 | else | ||
| 66 | { | ||
| 67 | ✗ | doDeinitialize(); | |
| 68 | } | ||
| 69 | } | ||
| 70 | |||
| 71 | ✗ | Imu::guiConfig(); | |
| 72 | |||
| 73 | // Header info | ||
| 74 | ✗ | if (ImGui::BeginTable(fmt::format("##ImuHeaders ({})", id.AsPointer()).c_str(), 3, | |
| 75 | ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg)) | ||
| 76 | { | ||
| 77 | ✗ | ImGui::TableSetupColumn("Time", ImGuiTableColumnFlags_WidthFixed); | |
| 78 | ✗ | ImGui::TableSetupColumn("IMU", ImGuiTableColumnFlags_WidthFixed); | |
| 79 | ✗ | ImGui::TableSetupColumn("Delta IMU", ImGuiTableColumnFlags_WidthFixed); | |
| 80 | ✗ | ImGui::TableHeadersRow(); | |
| 81 | |||
| 82 | ✗ | auto TextColoredIfExists = [this](int index, const char* displayText, const char* searchText, bool alwaysNormal = false) { | |
| 83 | ✗ | ImGui::TableSetColumnIndex(index); | |
| 84 | ✗ | if (alwaysNormal | |
| 85 | ✗ | || std::ranges::find_if(_headerColumns, [&searchText](const std::string& header) { | |
| 86 | ✗ | return header.starts_with(searchText); | |
| 87 | ✗ | }) != _headerColumns.end()) | |
| 88 | { | ||
| 89 | ✗ | ImGui::TextUnformatted(displayText); | |
| 90 | } | ||
| 91 | else | ||
| 92 | { | ||
| 93 | ✗ | ImGui::TextDisabled("%s", displayText); | |
| 94 | } | ||
| 95 | ✗ | }; | |
| 96 | |||
| 97 | ✗ | ImGui::TableNextRow(); | |
| 98 | ✗ | TextColoredIfExists(0, "GpsCycle", "GpsCycle"); | |
| 99 | ✗ | TextColoredIfExists(1, "Mag", "MagX"); | |
| 100 | ✗ | TextColoredIfExists(2, "DeltaTime", "DeltaTime"); | |
| 101 | ✗ | ImGui::TableNextRow(); | |
| 102 | ✗ | TextColoredIfExists(0, "GpsWeek", "GpsWeek"); | |
| 103 | ✗ | TextColoredIfExists(1, "Acc", "AccX"); | |
| 104 | ✗ | TextColoredIfExists(2, "DeltaTheta", "DeltaThetaX"); | |
| 105 | ✗ | ImGui::TableNextRow(); | |
| 106 | ✗ | TextColoredIfExists(0, "GpsToW", "GpsToW"); | |
| 107 | ✗ | TextColoredIfExists(1, "Gyro", "GyroX"); | |
| 108 | ✗ | TextColoredIfExists(2, "DeltaVel", "DeltaVelX"); | |
| 109 | ✗ | ImGui::TableNextRow(); | |
| 110 | ✗ | TextColoredIfExists(0, "TimeStartup", "TimeStartup"); | |
| 111 | ✗ | TextColoredIfExists(1, "Temperature", "Temperature"); | |
| 112 | |||
| 113 | ✗ | ImGui::EndTable(); | |
| 114 | } | ||
| 115 | ✗ | } | |
| 116 | |||
| 117 | ✗ | [[nodiscard]] json NAV::ImuFile::save() const | |
| 118 | { | ||
| 119 | LOG_TRACE("{}: called", nameId()); | ||
| 120 | |||
| 121 | ✗ | json j; | |
| 122 | |||
| 123 | ✗ | j["FileReader"] = FileReader::save(); | |
| 124 | ✗ | j["Imu"] = Imu::save(); | |
| 125 | |||
| 126 | ✗ | return j; | |
| 127 | ✗ | } | |
| 128 | |||
| 129 | ✗ | void NAV::ImuFile::restore(json const& j) | |
| 130 | { | ||
| 131 | LOG_TRACE("{}: called", nameId()); | ||
| 132 | |||
| 133 | ✗ | if (j.contains("FileReader")) | |
| 134 | { | ||
| 135 | ✗ | FileReader::restore(j.at("FileReader")); | |
| 136 | } | ||
| 137 | ✗ | if (j.contains("Imu")) | |
| 138 | { | ||
| 139 | ✗ | Imu::restore(j.at("Imu")); | |
| 140 | } | ||
| 141 | ✗ | } | |
| 142 | |||
| 143 | ✗ | bool NAV::ImuFile::initialize() | |
| 144 | { | ||
| 145 | LOG_TRACE("{}: called", nameId()); | ||
| 146 | |||
| 147 | ✗ | if (FileReader::initialize()) | |
| 148 | { | ||
| 149 | ✗ | for (auto& col : _headerColumns) | |
| 150 | { | ||
| 151 | ✗ | str::replace(col, "GpsTow", "GpsToW"); | |
| 152 | } | ||
| 153 | |||
| 154 | ✗ | size_t nDelta = 0; | |
| 155 | ✗ | for (const auto& col : _headerColumns) | |
| 156 | { | ||
| 157 | ✗ | if (col.starts_with("DeltaTime") | |
| 158 | ✗ | || col.starts_with("DeltaThetaX") || col.starts_with("DeltaThetaY") || col.starts_with("DeltaThetaZ") | |
| 159 | ✗ | || col.starts_with("DeltaVelX") || col.starts_with("DeltaVelY") || col.starts_with("DeltaVelZ")) | |
| 160 | { | ||
| 161 | ✗ | nDelta++; | |
| 162 | } | ||
| 163 | } | ||
| 164 | |||
| 165 | ✗ | _withDelta = nDelta == 7; | |
| 166 | |||
| 167 | ✗ | outputPins[OUTPUT_PORT_INDEX_IMU_OBS].dataIdentifier = _withDelta ? std::vector{ NAV::ImuObsWDelta::type() } : std::vector{ NAV::ImuObs::type() }; | |
| 168 | ✗ | return true; | |
| 169 | } | ||
| 170 | |||
| 171 | ✗ | outputPins[OUTPUT_PORT_INDEX_IMU_OBS].dataIdentifier = { NAV::ImuObs::type(), NAV::ImuObsWDelta::type() }; | |
| 172 | |||
| 173 | ✗ | for (auto& link : outputPins[OUTPUT_PORT_INDEX_IMU_OBS].links) | |
| 174 | { | ||
| 175 | ✗ | if (auto* pin = link.getConnectedPin()) | |
| 176 | { | ||
| 177 | ✗ | outputPins[OUTPUT_PORT_INDEX_IMU_OBS].recreateLink(*pin); | |
| 178 | } | ||
| 179 | } | ||
| 180 | |||
| 181 | ✗ | return false; | |
| 182 | ✗ | } | |
| 183 | |||
| 184 | ✗ | void NAV::ImuFile::deinitialize() | |
| 185 | { | ||
| 186 | LOG_TRACE("{}: called", nameId()); | ||
| 187 | |||
| 188 | ✗ | FileReader::deinitialize(); | |
| 189 | ✗ | } | |
| 190 | |||
| 191 | ✗ | bool NAV::ImuFile::resetNode() | |
| 192 | { | ||
| 193 | ✗ | FileReader::resetReader(); | |
| 194 | |||
| 195 | ✗ | return true; | |
| 196 | } | ||
| 197 | |||
| 198 | ✗ | std::shared_ptr<const NAV::NodeData> NAV::ImuFile::pollData() | |
| 199 | { | ||
| 200 | ✗ | std::shared_ptr<ImuObs> obs; | |
| 201 | ✗ | if (_withDelta) { obs = std::make_shared<ImuObsWDelta>(_imuPos); } | |
| 202 | ✗ | else { obs = std::make_shared<ImuObs>(_imuPos); } | |
| 203 | |||
| 204 | // Read line | ||
| 205 | ✗ | std::string line; | |
| 206 | ✗ | getline(line); | |
| 207 | // Remove any starting non text characters | ||
| 208 | ✗ | line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isgraph(ch); })); | |
| 209 | |||
| 210 | ✗ | if (line.empty()) | |
| 211 | { | ||
| 212 | ✗ | return nullptr; | |
| 213 | } | ||
| 214 | |||
| 215 | // Convert line into stream | ||
| 216 | ✗ | std::stringstream lineStream(line); | |
| 217 | ✗ | std::string cell; | |
| 218 | |||
| 219 | ✗ | std::optional<uint16_t> gpsCycle = 0; | |
| 220 | ✗ | std::optional<uint16_t> gpsWeek; | |
| 221 | ✗ | std::optional<long double> gpsToW; | |
| 222 | ✗ | std::optional<double> magX; | |
| 223 | ✗ | std::optional<double> magY; | |
| 224 | ✗ | std::optional<double> magZ; | |
| 225 | ✗ | std::optional<double> accelX; | |
| 226 | ✗ | std::optional<double> accelY; | |
| 227 | ✗ | std::optional<double> accelZ; | |
| 228 | ✗ | std::optional<double> gyroX; | |
| 229 | ✗ | std::optional<double> gyroY; | |
| 230 | ✗ | std::optional<double> gyroZ; | |
| 231 | |||
| 232 | ✗ | std::optional<double> deltaTime; | |
| 233 | ✗ | std::optional<double> deltaThetaX; | |
| 234 | ✗ | std::optional<double> deltaThetaY; | |
| 235 | ✗ | std::optional<double> deltaThetaZ; | |
| 236 | ✗ | std::optional<double> deltaVelX; | |
| 237 | ✗ | std::optional<double> deltaVelY; | |
| 238 | ✗ | std::optional<double> deltaVelZ; | |
| 239 | |||
| 240 | // Split line at comma | ||
| 241 | ✗ | for (const auto& column : _headerColumns) | |
| 242 | { | ||
| 243 | ✗ | if (std::getline(lineStream, cell, ',')) | |
| 244 | { | ||
| 245 | // Remove any trailing non text characters | ||
| 246 | ✗ | cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end()); | |
| 247 | |||
| 248 | ✗ | if (cell.empty()) { continue; } | |
| 249 | |||
| 250 | ✗ | if (column.starts_with("GpsCycle")) | |
| 251 | { | ||
| 252 | ✗ | gpsCycle = static_cast<uint16_t>(std::stoul(cell)); | |
| 253 | } | ||
| 254 | ✗ | else if (column.starts_with("GpsWeek")) | |
| 255 | { | ||
| 256 | ✗ | gpsWeek = static_cast<uint16_t>(std::stoul(cell)); | |
| 257 | } | ||
| 258 | ✗ | else if (column.starts_with("GpsToW")) | |
| 259 | { | ||
| 260 | ✗ | gpsToW = std::stold(cell); | |
| 261 | } | ||
| 262 | ✗ | else if (column.starts_with("TimeStartup")) | |
| 263 | { | ||
| 264 | ✗ | obs->timeSinceStartup.emplace(std::stoull(cell)); | |
| 265 | } | ||
| 266 | ✗ | else if (column.starts_with("MagX")) | |
| 267 | { | ||
| 268 | ✗ | magX = std::stod(cell); | |
| 269 | } | ||
| 270 | ✗ | else if (column.starts_with("MagY")) | |
| 271 | { | ||
| 272 | ✗ | magY = std::stod(cell); | |
| 273 | } | ||
| 274 | ✗ | else if (column.starts_with("MagZ")) | |
| 275 | { | ||
| 276 | ✗ | magZ = std::stod(cell); | |
| 277 | } | ||
| 278 | ✗ | else if (column.starts_with("AccX")) | |
| 279 | { | ||
| 280 | ✗ | accelX = std::stod(cell); | |
| 281 | } | ||
| 282 | ✗ | else if (column.starts_with("AccY")) | |
| 283 | { | ||
| 284 | ✗ | accelY = std::stod(cell); | |
| 285 | } | ||
| 286 | ✗ | else if (column.starts_with("AccZ")) | |
| 287 | { | ||
| 288 | ✗ | accelZ = std::stod(cell); | |
| 289 | } | ||
| 290 | ✗ | else if (column.starts_with("GyroX")) | |
| 291 | { | ||
| 292 | ✗ | gyroX = std::stod(cell); | |
| 293 | } | ||
| 294 | ✗ | else if (column.starts_with("GyroY")) | |
| 295 | { | ||
| 296 | ✗ | gyroY = std::stod(cell); | |
| 297 | } | ||
| 298 | ✗ | else if (column.starts_with("GyroZ")) | |
| 299 | { | ||
| 300 | ✗ | gyroZ = std::stod(cell); | |
| 301 | } | ||
| 302 | ✗ | else if (column.starts_with("Temperature")) | |
| 303 | { | ||
| 304 | ✗ | obs->temperature.emplace(std::stod(cell)); | |
| 305 | } | ||
| 306 | ✗ | else if (column.starts_with("DeltaTime")) | |
| 307 | { | ||
| 308 | ✗ | deltaTime = std::stod(cell); | |
| 309 | } | ||
| 310 | ✗ | else if (column.starts_with("DeltaThetaX")) | |
| 311 | { | ||
| 312 | ✗ | deltaThetaX = std::stod(cell); | |
| 313 | } | ||
| 314 | ✗ | else if (column.starts_with("DeltaThetaY")) | |
| 315 | { | ||
| 316 | ✗ | deltaThetaY = std::stod(cell); | |
| 317 | } | ||
| 318 | ✗ | else if (column.starts_with("DeltaThetaZ")) | |
| 319 | { | ||
| 320 | ✗ | deltaThetaZ = std::stod(cell); | |
| 321 | } | ||
| 322 | ✗ | else if (column.starts_with("DeltaVelX")) | |
| 323 | { | ||
| 324 | ✗ | deltaVelX = std::stod(cell); | |
| 325 | } | ||
| 326 | ✗ | else if (column.starts_with("DeltaVelY")) | |
| 327 | { | ||
| 328 | ✗ | deltaVelY = std::stod(cell); | |
| 329 | } | ||
| 330 | ✗ | else if (column.starts_with("DeltaVelZ")) | |
| 331 | { | ||
| 332 | ✗ | deltaVelZ = std::stod(cell); | |
| 333 | } | ||
| 334 | } | ||
| 335 | } | ||
| 336 | |||
| 337 | ✗ | if (_withDelta) | |
| 338 | { | ||
| 339 | ✗ | if (deltaTime && deltaThetaX && deltaThetaY && deltaThetaZ && deltaVelX && deltaVelY && deltaVelZ) | |
| 340 | { | ||
| 341 | ✗ | if (auto obsWDelta = std::reinterpret_pointer_cast<ImuObsWDelta>(obs)) | |
| 342 | { | ||
| 343 | ✗ | obsWDelta->dtime = deltaTime.value(); | |
| 344 | ✗ | obsWDelta->dtheta = { deltaThetaX.value(), deltaThetaY.value(), deltaThetaZ.value() }; | |
| 345 | ✗ | obsWDelta->dvel = { deltaVelX.value(), deltaVelY.value(), deltaVelZ.value() }; | |
| 346 | ✗ | } | |
| 347 | } | ||
| 348 | else | ||
| 349 | { | ||
| 350 | ✗ | LOG_ERROR("{}: Columns 'DeltaTime', 'DeltaThetaX', 'DeltaThetaY', 'DeltaThetaZ', 'DeltaVelX', 'DeltaVelY', 'DeltaVelZ' are needed.", nameId()); | |
| 351 | ✗ | return nullptr; | |
| 352 | } | ||
| 353 | } | ||
| 354 | |||
| 355 | ✗ | if (!gpsCycle || !gpsWeek || !gpsToW) | |
| 356 | { | ||
| 357 | ✗ | LOG_ERROR("{}: Fields 'GpsCycle', 'GpsWeek', 'GpsToW' are needed.", nameId()); | |
| 358 | ✗ | return nullptr; | |
| 359 | } | ||
| 360 | ✗ | if (!accelX || !accelY || !accelZ) | |
| 361 | { | ||
| 362 | ✗ | LOG_ERROR("{}: Fields 'AccX', 'AccY', 'AccZ' are needed.", nameId()); | |
| 363 | ✗ | return nullptr; | |
| 364 | } | ||
| 365 | ✗ | if (!gyroX || !gyroY || !gyroZ) | |
| 366 | { | ||
| 367 | ✗ | LOG_ERROR("{}: Fields 'GyroX', 'GyroY', 'GyroZ' are needed.", nameId()); | |
| 368 | ✗ | return nullptr; | |
| 369 | } | ||
| 370 | |||
| 371 | ✗ | obs->insTime = InsTime(gpsCycle.value(), gpsWeek.value(), gpsToW.value()); | |
| 372 | ✗ | obs->p_acceleration = { accelX.value(), accelY.value(), accelZ.value() }; | |
| 373 | ✗ | obs->p_angularRate = { gyroX.value(), gyroY.value(), gyroZ.value() }; | |
| 374 | |||
| 375 | ✗ | if (magX && magY && magZ) | |
| 376 | { | ||
| 377 | ✗ | obs->p_magneticField.emplace(magX.value(), magY.value(), magZ.value()); | |
| 378 | } | ||
| 379 | |||
| 380 | ✗ | invokeCallbacks(OUTPUT_PORT_INDEX_IMU_OBS, obs); | |
| 381 | ✗ | return obs; | |
| 382 | ✗ | } | |
| 383 |